Kollmorgen S300

5.3.2 Example: Operating the Status Machine
The status machine must be used sequentially during boot-up period. Leaving out a status is not
possible.
When the S300/S700 is switched on and the boot-up message has been detected, communication
via SDOs can be initiated. For example: all the parameters can be read out or written to, or the sta
-
tus machine for the drive can be controlled.
The state of the status machine can be obtained through the query of Object 6041 Sub 0.
Directly after switch-on, a value will be returned, such as 0240
h
. This corresponds to the status
"Switch on disabled".
The following data would then be visible on the CAN bus:
COB-ID Control byte
Index
Sub-
index
Data Comment
Low byte High byte
603 40 41 60 00
h
40 00 00 00
583 4B 41 60 00
h
40 02 00 00
2 bytes of data status
If the supply power is present and the hardware enable is at the High level (24 V to DGND) then
you can try to switch the drive to the state "Switched on" by writing the Controlword (Object 6040
Sub 0). If this is successful, there will be a positive acknowledgement in the SDO reply (control byte
0 in the data field = 60
h
).
Switch on
The messages then appear as follows:
COB-ID Control byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2B 40 60 00
h
06 00 00 00
Shut down
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
07 00 00 00
Switch on
583 60 40 60 00
h
00 00 00 00
control word = 0x0007 Meaning: Bit 0, Bit 1, Bit 2 set Þ Switch On,
Disable Voltage off, Quick Stop off
Status query 2
The new status can then be queried again, and returns the following result:
COB-ID Control byte
Index
Sub-
index
Data Comment
Low byte High byte
603 40 41 60 00
h
—
query status
583 4B 41 60 00
h
33 02 00 00
Status = 0x0233 Meaning: Bit 0, Bit 1, Bit 5 set Þ ready to Switch On,
Bit 9 set Þ remote, operation possible via RS232
116 CANopen for S300/S700
Appendix 11/2018 Kollmorgen